ros2 for 思岚AI雷达

ros2 humble接入激光雷达传感器数据——机器人之 【眼】，主要用于SLAM导航、避开障碍物

• 下载官方sdk，安装步骤参考官方readme
  https://github.com/Slamtec/sllidar_ros2

ans字符类型问题

# net_socket.cpp 170 行修改为
return ans!=0?RESULT_OPERATION_FAIL:RESULT_OK;

参数声明问题

# sllidar_node.cpp 170 需要修改增加默认值为：
this->declare_parameter("channel_type","");
this->declare_parameter("tcp_ip","");
this->declare_parameter("tcp_port",0);
this->declare_parameter("udp_ip","");
this->declare_parameter("udp_port",0);
this->declare_parameter("serial_port","");
this->declare_parameter("serial_baudrate",0);
this->declare_parameter("frame_id","");
this->declare_parameter("inverted",false);
this->declare_parameter("angle_compensate",false);
this->declare_parameter("scan_mode","");
this->declare_parameter("scan_frequency",0.1);

launch 找不到可执行文件问题

# Node.__init__() missing 1 required keyword-only argument: 'executable'；修改如下：

Node(
package='sllidar_ros2',
executable='sllidar_node',
name='sllidar_node',
parameters=[{'serial_port': serial_port, 
'serial_baudrate': serial_baudrate, 
'frame_id': frame_id,
'inverted': inverted, 
'angle_compensate': angle_compensate}],
output='screen'),
   
Node(
package='rviz2',
executable='rviz2',
name='rviz2',
arguments=['-d', rviz_config_dir],
output='screen')